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WO2019025919A1 - Planification de trajectoire d'urgence de système d'uav lors d'une défaillance de communication - Google Patents

Planification de trajectoire d'urgence de système d'uav lors d'une défaillance de communication Download PDF

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Publication number
WO2019025919A1
WO2019025919A1 PCT/IB2018/055628 IB2018055628W WO2019025919A1 WO 2019025919 A1 WO2019025919 A1 WO 2019025919A1 IB 2018055628 W IB2018055628 W IB 2018055628W WO 2019025919 A1 WO2019025919 A1 WO 2019025919A1
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WO
WIPO (PCT)
Prior art keywords
uav
communication
return
home location
communication failure
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/IB2018/055628
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English (en)
Inventor
Rahul Singh
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ideaforge Technology Pvt Ltd
Original Assignee
Ideaforge Technology Pvt Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ideaforge Technology Pvt Ltd filed Critical Ideaforge Technology Pvt Ltd
Priority to ES18840571T priority Critical patent/ES3009022T3/es
Priority to US16/636,412 priority patent/US12008910B2/en
Priority to CN201880050797.2A priority patent/CN110998695A/zh
Priority to EP18840571.6A priority patent/EP3662460B1/fr
Publication of WO2019025919A1 publication Critical patent/WO2019025919A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/30—Flight plan management
    • G08G5/34—Flight plan management for flight plan modification
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • G05D1/226—Communication links with the remote-control arrangements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/55—Navigation or guidance aids for a single aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/57—Navigation or guidance aids for unmanned aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/58—Navigation or guidance aids for emergency situations, e.g. hijacking or bird strikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/80—Anti-collision systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

Definitions

  • the present disclosure generally relates to the field of unmanned aerial vehicles (UAVs).
  • UAVs unmanned aerial vehicles
  • the present disclosure pertains to communication failure during flight of a UAV and how an efficient emergency path planningcan be done in the event of a communication failure.
  • UAV Unmanned Aerial Vehicles
  • the pre-programmed emergency path may use the same pre-programmed flight path as traced by the UAV for the mission i.e. re-trace the path travelled by the UAV, but in this case the amount of time taken for the UAV to return to the home location can be more, and further, this would prove to be a hassle as the battery tested for a UAV during emergency is generally calculated based on time corresponding to the shortest distance, among other possible relevant factors.
  • the numbers expressing quantities of ingredients, properties such as concentration, reaction conditions, and so forth, used to describe and claim certain embodiments of the invention are to be understood as being modified in some instances by the term "about.” Accordingly, in some embodiments, the numerical parameters set forth in the written description and attached claims are approximations that can vary depending upon the desired properties sought to be obtained by a particular embodiment. In some embodiments, the numerical parameters should be construed in light of the number of reported significant digits and by applying ordinary rounding techniques. Notwithstanding that the numerical ranges and parameters setting forth the broad scope of some embodiments of the invention are approximations, the numerical values set forth in the specific examples are reported as precisely as practicable. The numerical values presented in some embodiments of the invention may contain certain errors necessarily resulting from the standard deviation found in their respective testing measurements.
  • a general object of the present disclosure is to provide simple, safe, and fast UAV emergency path planning that does not have shortcomings of conventional communication failure path planning techniques.
  • An object of the present disclosure is to provide a safety-centered UAV path planning method for events involving loss of communication with home location.
  • Another object of the present disclosure is to provide a shortest-distance flight path for emergency return journey of a UAV while taking into account probability of obstacle(s).
  • aspects of the present disclosure generally relate to the field of unmanned aerial vehicles (UAVs), and in particular, to communication failure(s) during flight of a UAV. More specifically, the present disclosure relates to shortest and safest emergency path planning upon communication failure of the UAV.
  • UAVs unmanned aerial vehicles
  • the present disclosure relates to a method for executing safe-return of an Unmanned Aerial Vehicle (UAV) moving along a path having a plurality of communication waypoints, the method comprising the steps of: detecting, at the UAV, a communication failure; enabling the UAV to return to last healthy communication waypoint location; and based on status of the communication failure, enabling the UAV to return to its home location.
  • UAV Unmanned Aerial Vehicle
  • the UAV returns back to the home location using linear shortest flight path from the last healthy communication waypoint location to the home location. In another aspect, the UAV returns back to the home location if the communication failure does not return within a defined time period, wherein in case the communication returns within the defined time period, the UAV waits for user command.
  • the present disclosure further relates to a system configured to enable safe- return of a UAV moving along a path having a plurality of communication waypoints, said system comprising a communication module; and a flight control system (102) operatively coupled with the communication module so as to detect a communication failure and, based on such detection, return to last healthy communication waypoint location, wherein based on status of the communication failure within a defined time period, the flight control system is configured to enable the UAV to return to its home location.
  • the UAV returns back to the home location using linear shortest flight path from the last healthy communication waypoint location to the home location. In another aspect, the UAV returns back to the home location if the communication failure does not return within the defined time period, wherein in case the communication returns within the defined time period, the UAV waits for user command. [0021] In another aspect, the flight control system can further be configured to, using one or more sensors, monitor UAV parameters selected from any or a combination of location, payload, speed, height, direction, path traversed, and fuel level.
  • the communication failure can be detected based on status of wireless radio link.
  • FIG. 1 illustrates an exemplary architecture diagram of the proposed UAV in accordance with an embodiment of the present disclosure.
  • FIGs. 2A and 2B illustrate exemplary flight paths of UAV in accordance to an embodiment of the present disclosure.
  • FIG. 3 illustrates an exemplary flow diagram showing execution of safe-return for UAV on communication failure in accordance to an embodiment of the present disclosure.
  • aspects of the present disclosure generally relate to the field of unmanned aerial vehicles (UAVs), and in particular, to communication failure(s) during flight of a UAV. More specifically, the present disclosure relates to shortest and safest emergency path planning upon communication failure of the UAV.
  • UAVs unmanned aerial vehicles
  • the present disclosure relates to a method for executing safe-return of an Unmanned Aerial Vehicle (UAV) moving along a path having a plurality of communication waypoints, the method comprising the steps of: detecting, at the UAV, a communication failure; enabling the UAV to return to last healthy communication waypoint location; and based on status of the communication failure, enabling the UAV to return to its home location.
  • UAV Unmanned Aerial Vehicle
  • the UAV returns back to the home location using linear shortest flight path from the last healthy communication waypoint location to the home location. In another aspect, the UAV returns back to the home location if the communication failure does not return within a defined time period, wherein in case the communication returns within the defined time period, the UAV waits for user command.
  • the present disclosure further relates to a system configured to enable safe- return of a UAV moving along a path having a plurality of communication waypoints, said system comprising a communication module; and a flight control system (102) operatively coupled with the communication module so as to detect a communication failure and, based on such detection, return to last healthy communication waypoint location, wherein based on status of the communication failure within a defined time period, the flight control system is configured to enable the UAV to return to its home location.
  • the UAV returns back to the home location using linear shortest flight path from the last healthy communication waypoint location to the home location. In another aspect, the UAV returns back to the home location if the communication failure does not return within the defined time period, wherein in case the communication returns within the defined time period, the UAV waits for user command. [0036] In another aspect, the flight control system can further be configured to, using one or more sensors, monitor UAV parameters selected from any or a combination of location, payload, speed, height, direction, path traversed, and fuel level.
  • the communication failure can be detected based on status of wireless radio link.
  • Embodiments of the present disclosure generally relate to the field of unmanned aerial vehicles (UAVs), and in particular, to communication failure during flight of UAV. More specifically, the present disclosure relates to shortest and safest emergency path planning on the communication failure of the UAV.
  • UAVs unmanned aerial vehicles
  • the present disclosure provides a method for executing safe-return for an UAV (also referred to as a "vehicle” and both these terms used interchangeably hereinafter) moving along a path with a plurality of waypoints for a nominal mission, wherein method includes the steps of detecting an event of communication failure by the UAV, self-directing the UAV to a waypoint with last healthy signal (LHS) of the plurality of waypoints, and planning, by the UAV, an emergency mission with linear flight path (alternatively, flight path) from a source to a destination, wherein the source can be the waypoint with the LHS and the destination (say home location) can be pre-configured in the UAV.
  • LHS last healthy signal
  • method of the present disclosure can further include the step of communicating, by UAV, with home location to check for a healthy signal after moving to the waypoint with the LHS such that, upon successful communication from the home location, the UAV establishes a healthy signal while communicating with the home location, wherein the next step can be of detecting, by the UAV, a user command for further proceedings.
  • method of the present disclosure can further include the step of self-flying of UAV along linear flight path of emergency mission to a destination, wherein the destination is any of a plurality of waypoints with a healthy signal.
  • communication failure as detected by UAV, can take place due to obstruction by an obstacle present substantially along line-of-sight from operator or home location to the UAV.
  • destination can be pre-configured before start of nominal mission based upon conditionality with reference to a threshold value for waypoint with a healthy signal.
  • the destination can be pre-configured in-flight by UAV on communication failure based on any or a combination of obstacle features, battery power status, on-board instrument health, and distance travelled of total path of nominal mission.
  • selection of the waypoint with last healthy signal can be done with any or a combination of one or more of the factors selected from the group of batter power status, nominal mission parameters (total time, total distance, distance travelled, payload weight and the like), payload condition/health, on-board sensor status/condition.
  • the present disclosure takes the example of an UAV while referring to various aspects thereof, it to be appreciated that any aerial vehicle enabled with provision of autonomous operation, for whole or a part of its flight, can readily make use of the present disclosure, from one or more considerations such as safe retrieval, for instance. Further, vehicles other than aerial-based vehicles, such as but not limited to land-based vehicles can also implement the present disclosure with minimum or no modifications, and all such variations have been well thought of and are well within the scope of the present disclosure.
  • FIG. 1 illustrates an exemplary architecture diagram of UAV 100 in accordance with an aspect of the present disclosure.
  • UAV 100 can include a flight control system 102 in communication with modules/components such as a sensor module 104, a communication module 110, control actuators and propulsion 114, and payload 116.
  • the control system 102 can be responsible for integration and/or management of such modules/components.
  • an antenna 112 can be in communication with the sensor module 104 and the communication module 110 such that the antenna 112 continuously interacts with base/home location.
  • the sensor module 104 can utilize one or more transducers such as, but need not necessarily, EVIU (Inertia Measurement Unit) 106, GPS (Global Positioning System) 108, accelerometer, gyroscope, IR sensors and the like.
  • EVIU Intelligent Measurement Unit
  • GPS Global Positioning System
  • accelerometer accelerometer
  • gyroscope gyroscope
  • IR sensors IR sensors and the like.
  • a nominal mission for UAV 202 can include a path with a plurality of waypoints with variation in signal strength on account of communication failure due to component(s) malfunction or even due to presence of obstacle(s).
  • control system 102 directs the nominal mission functions and keeps track of the vehicle state, i.e., location, speed, fuel level, etc. by acquiring data from sensors (sensor module 104).
  • the control system 102 also keeps checking health of wireless radio link from GCS (Ground Control Station, or alternatively Ground Station/Home Location).
  • the flight control system 102 can continue to guide the UAV 202through its nominal mission. However, if wireless radio link communication (or simply communication) is lost, the flight control system 102 can direct the UAV 202 to its last healthy signal (LHS) communication waypoint location.
  • LHS healthy signal
  • flight control system 102 can, not only store home/original takeoff location in its memory, but can also store last known healthy communication waypoint (A4 as illustrated in FIG. 2B) location.
  • This data can be repeatedly updated asUAV 202 is inflight and moves from one waypoint to the other of a plurality of waypoints for a nominal mission.
  • the UAV 202 may be configured to send status/updates with sensor data such as GPS coordinates, altitude, velocity, acceleration, wind speed and other instrumental or environmental data that may be warranted to successfully undertake such mission, on reaching each waypoint of the plurality of waypoints.
  • flight control system 102 can be configured to calculate and analyze underlying flight parameters to notify user, preferably on being queried, desirable information such as ETA (Estimated Time of Arrival) to next waypoint, average flight velocity, distance to empty or any other analysis as cold be required.
  • ETA Estimatimated Time of Arrival
  • FIGs. 2A and 2B illustrate exemplary flight paths of an UAV 202 in accordance to an embodiment of the present disclosure.
  • FIG. 2A relates to nominal mission that enables UAV 202 to move along a path with a plurality of waypoints, for example waypoints Al, A2, A3, A4, and A5 (more waypoints possible while only these have been shown for better clarity and understanding).
  • Al can be "Home Location" from where the UAV 202 starts its nominal mission while moving to other waypoints A2 and onwards.
  • the present disclosure provides a method for executing conditional safe-return for an UAV 202 (Unmanned Aerial Vehicle) moving along a path with a plurality of waypoints (herein Al to A5) for a nominal mission, wherein the method can include the steps of detecting an event of communication failure (near A5) by the UAV 202; self- directing the UAV 202 to a waypoint with last healthy signal (A4) of the plurality of waypoints; and planning, by the UAV 202, a emergency mission with linear flight path from a source to a destination, wherein the source can be the waypoint with the last healthy signal and the destination (say home location Al) can be pre-configured in the UAV 202.
  • UAV 202 Unmanned Aerial Vehicle
  • FIGs. 2A and 2B illustrate conditions for communication failure due to obstacle 204.
  • UAV 202 can be in a nominal mission mode while origination from Al (Home Location) but somewhere during the flight, say at waypoint A5, there can be obstruction to radio link/signal from the Al due to presence of obstacle 204 in line-of-sight to the UAV 202/A5.
  • retracing the nominal path or moving directly from A5 to Al can lead to a security challenge for the UAV 202 from any obstacle(s) in linear path from A5 to Al .
  • Retracing the nominal path may lead to an undesirably long time lapse with implications to on-board battery life of the UAV 202.
  • UAV 202 can be configured to move back to waypoint with last healthy signal, in this case waypoint A4.
  • the UAV 202 (or more particularly flight control system 102) can plan a linear flight path (marked with dotted line in FIG. 2B) from A4 to Al, for which the line-of-sight is expected to be free of any obstacles.
  • linear flight path (as illustrated in FIG. 2B) may not be exactly linear from consideration such as change in height of UAV while in-flight for emergency mission. Even otherwise, a constant-height flight could require slight detour(s) from normal straight line of the linear flight path in view of some obstacle(s) and the like that could be readily detected by sensors as elaborated in some aspects of the present disclosure. It could also happen that such detour(s) put the UAV back on path of nominal mission thereafter the UAV can reconnect/re-communicate with Home Location, for directions such as rerouting to original pursuit on the nominal mission, or any other command from user.
  • selection of waypoint with last healthy signal can be done (by UAV) with any or a combination of one or more of the factors selected from the group of battery power status, nominal mission parameters (total time, total distance, distance travelled, payload weight and the like), payload condition/health, on-board sensor status/condition among other factors.
  • the UAV can be configured to automatically share crucial data pertaining to the waypoint with the LHS as soon as the UAV reconnects with Home Location/user.
  • UAV may be configured to scan areas in vicinity of path (with a plurality of waypoints) of nominal missions so as to execute a preemptive action in order to prevent or lessen events of communication failure. Such scan would enable the UAV to automatically check for presence of obstacles, preferably by comparing characteristics of objects scanned in the path (or adjoining areas) with pre-stored characteristics/image of obstacles as can be accessed through a database.
  • the database may be mission specific so as to take into account geographical and climatic features among other relevant factors such that there is a higher probability to timely predict and judge presence of obstacle(s).
  • the UAV may be configured to dynamically update a relevant part of such database as pertains to current and/or upcoming section of the path, keeping in mind constraints of storing large amount of data and various hardware required therefore, among other relevant factors as would be obvious to a person having ordinary knowledge in the art.
  • timely detection of obstacles primarily by comparison with database, can enable the UAV to automatically maneuver around immediate obstacles or may allow timely sharing of such possibilities with user (Home Location) so as to take command from the user.
  • UAV can be configured with a selection of different maps of target areas whether in a dynamic fashion or pre-stored in its memory.
  • online weather updates may be provided for the UAV to better equip it for handling of possible communication failures, mainly due to weather and related phenomenon.
  • UAV may be equipped with an image capturing means such cameras to regularly send images of vicinity of in-flight locations for nominal mission so as to enable a user to proceed accordingly, especially for events such as communication failure where such images can be highly beneficial.
  • images of areas around the UAV may possibly help in better judging characteristics/features of obstacle(s) that might have resulted in loss/failure of communication with Home Location.
  • images preferably with geo- tags may prove to be more beneficial to allow a user to plan SOP, such as from preliminary analysis the situation may appear to warrant relocating/moving Home Location/user so as to reconnect may be for short time period with better line-of-sight.
  • the method can include the step of detecting, at the UAV, a communication failure; at step 304, enabling the UAV to return to last healthy communication waypoint location; and at step 306, based on status of the communication failure, enabling the UAV to return to its home location.
  • the present disclosure takes advantage of high probability of absence of obstacle(s) while flying/planning path from waypoint with last healthy signal (LHS) when encountering a communication failure (around further waypoint due to obstacle blocking direct line-of-sight to UAV), the present disclosure has made various references to emergency mission with reference to the waypoint with the LHS since it provides a balance of safety and efficiency of time. While it shall be well understood that any waypoint (say A2 or A3 for instance) even before the waypoint with the LHS can be preferred, for one or more reasons such as a user defined threshold for healthy signal strength and the like, over and above the waypoint with the LHS (A4 of FIGS. 2 A and 2B) and all such variations are well within the scope of the present disclosure.
  • the present disclosure provides method for planning a safety and shortest- distance based emergency path for a UAV, particularly for conditions involving communication failure. Notably, there is also a provision to allow re-gaining of control by user/home station on conditional basis, as elaborated through various aspects of the present disclosure.
  • the present disclosure provides a simple, safe and fast UAV emergency path planning that does not have shortcomings of conventional communication failure path planning techniques.
  • the present disclosure provides a safety-centered UAV path planning method for events involving loss of communication with Home Location. [0064] The present disclosure provides a shortest-distance flight path for emergency return journey of a UAV while taking into account probability of obstacle(s).

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Alarm Systems (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)

Abstract

La présente invention concerne un système et un procédé permettant d'exécuter un retour sécurisé d'un véhicule aérien sans pilote (UAV) se déplaçant le long d'une trajectoire comptant une pluralité de points de cheminement de communication en cas de défaillance de communication. Selon un aspect, le procédé proposé peut comprendre les étapes consistant à détecter, au niveau de l'UAV, une défaillance de communication ; à permettre à l'UAV de revenir à un dernier emplacement de point de cheminement de communication indemne ; et en fonction de l'état de l'échec de communication, à permettre à l'UAV de revenir à son emplacement de rattachement.
PCT/IB2018/055628 2017-08-04 2018-07-27 Planification de trajectoire d'urgence de système d'uav lors d'une défaillance de communication Ceased WO2019025919A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
ES18840571T ES3009022T3 (en) 2017-08-04 2018-07-27 Uav system emergency path planning on communication failure
US16/636,412 US12008910B2 (en) 2017-08-04 2018-07-27 UAV system emergency path planning on communication failure
CN201880050797.2A CN110998695A (zh) 2017-08-04 2018-07-27 通信失效时的uav系统应急路径规划
EP18840571.6A EP3662460B1 (fr) 2017-08-04 2018-07-27 Planification de trajectoire d'urgence de système d'uav lors d'une défaillance de communication

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IN201721027849 2017-08-04
IN201721027849 2017-08-04

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US (1) US12008910B2 (fr)
EP (1) EP3662460B1 (fr)
CN (1) CN110998695A (fr)
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WO (1) WO2019025919A1 (fr)

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US20200175882A1 (en) 2020-06-04
ES3009022T3 (en) 2025-03-25
EP3662460A1 (fr) 2020-06-10
US12008910B2 (en) 2024-06-11

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